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Getting descriptive outcomes from ExePathAction [closed]

asked 2019-05-15 03:12:52 -0500

curi_ROS gravatar image

I am trying to design some recovery behaviors for a bot following a set of waypoints, with velocities issued by TEB. I am using ExePathAction to start the navigation with TEB.

I would like to know when the path is blocked (BLOCKED_PATH = 109) in order to trigger either a GetPathAction until the next waypoint, or maybe some other recovery behaviour.

Are the descriptive outcomes + messages already implemented in MBF? Or do these descriptive outcomes have to be implemented in the controller (in this case: TEBLocalPlannerROS)? Or should it be implemented by extending some function of the controller_action or abstract_controller_execution?

Thank you for your time, any help will be appreciated! :)

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Closed for the following reason the question is answered, right answer was accepted by curi_ROS
close date 2019-05-15 04:05:41.994990

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answered 2019-05-15 03:37:22 -0500

jorge gravatar image

Hi, MBF just provides extended interfaces for the plugins, with error code and message. But it's up the the plugins to provide this information. If a plugin doesn't implement the extended MBF, we wrap the old nav_core interface and report SUCCESS / FAILURE depending on there it returns true / false.

For TEB, we have implemented MBF's extended interface in our fork. We report the following possible outcomes:

  • SUCCESS
  • NOT_INITIALIZED
  • INTERNAL_ERROR
  • INVALID_PATH
  • NO_VALID_CMD

To my understanding, TEB doesn't recognizes explicitly situations when BLOCKED_PATH outcome makes sense, but feel free to PR it if you have already implemented the code!

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We don't have any code for the BLOCKED_PATH event yet, but this helps. Thank you!

curi_ROS gravatar imagecuri_ROS ( 2019-05-15 04:06:49 -0500 )edit

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Asked: 2019-05-15 03:12:52 -0500

Seen: 71 times

Last updated: May 15